battery.cc

该文件是包含了机器人足球比赛中的整个系统的代码

#include "Battery.h"
#include "../Common/Common.h"
#include "../TOOLS/BallTricks.h"
#include "../TOOLS/BasicTricks.h"
#include "../TOOLS/HeadTricks.h"
#include "../TOOLS/ComplexTricks.h"
#include "../TOOLS/MovementTricks.h"

// This guy jutters like an idiot to cause a battery overcurrent error :)
Battery::Battery() {

  debugOutput = configuration_.GetAsBool("DebugOutput");

  currentTrick = new BasicTricks::NullBody();
  headTrick = new BasicTricks::NullHead();
  inPlaying = false;
  direction = 1;
}

Battery::~Battery() {
  delete currentTrick;
  delete headTrick;
}

void Battery::NewReadyModel() {
  if (inPlaying) {
    delete headTrick;
    headTrick = new HeadTricks::HeadPan(85,-85,3,50);   // MQ 19/6 .. changed from (70,-70,0,12)

    delete currentTrick;
    currentTrick = new BasicTricks::NullBody();
    currentTrick->Start();
  }

  int hC = headTrick->Continue();
  if (hC < 1) {
    delete headTrick;
    headTrick = new HeadTricks::HeadPan(85,-85,3,50);   // MQ 19/6 .. changed from (70,-70,0,12)
    headTrick->Start();
  }
  inPlaying = false;
}

void Battery::NewPlayingModel() {
  if (!inPlaying) {
    delete headTrick;
    headTrick = new BasicTricks::NullHead();
    headTrick->Start();

    delete currentTrick;
    currentTrick = new BasicTricks::NullBody();
    currentTrick->Start();
  }
  inPlaying=true;

  int hC = headTrick->Continue();
  if (hC < 1) {
    delete headTrick;
    headTrick = new BasicTricks::NullHead();
    headTrick->Start();
  }

  delete currentTrick;
  currentTrick = new BasicTricks::Step(LocomotionCommand::TP_WALK,200.0*direction,200.0*direction,30.0*direction,40.0*direction,1.8);
  currentTrick->Start();
  currentTrick->Continue();
  direction*=-1;
}